Multi-unmanned aerial vehicle three-dimensional formation reconfiguration method based on artificial bee colony (ABC) algorithm

Abstract

The invention discloses a multi-unmanned aerial vehicle three-dimensional formation reconfiguration method based on an artificial bee colony (ABC) algorithm, and belongs to the technical field of unmanned aerial vehicle control. The method comprises the following steps: firstly, establishing a motion model of an unmanned aerial vehicle and then giving out mathematical description of optimal time control of three-dimensional formation reconfiguration; and after piecewise linearization control input is carried out, carrying out unmanned aerial vehicle three-dimensional formation reconfigurationby using an ABC algorithm. Compared with the prior art, the method disclosed by the invention has the advantages that the searching time of unmanned aerial vehicle formation reconfiguration through the ABC algorithm is shortest, so that the rapidity of the unmanned aerial vehicle formation reconfiguration is realized; and the ABC algorithm is a global search method which can avoid falling into local optimization, so that the accuracy of the unmanned aerial vehicle formation reconfiguration is improved.

Description

technical field [0001] The invention belongs to the technical field of unmanned aerial vehicle control, and relates to a reconstruction method of multi-unmanned aerial vehicle cooperative formation, specifically, refers to a multi-unmanned aerial vehicle based on artificial bee colony algorithm (Artificial Bee Colony Algorithm, hereinafter referred to as ABC). Human-machine three-dimensional formation reconstruction method. Background technique [0002] UAV (Unmanned Aerial Vehicle, UAV) is an aircraft without a pilot on board, can be operated autonomously or remotely, can be consumable or recyclable, and can carry lethal or non-lethal payloads . [0003] In 1917, the British successfully developed the world's first unmanned aerial vehicle. After that, the unmanned aerial vehicle has gone through unmanned target aircraft, pre-programmed control unmanned reconnaissance aircraft, command remote unmanned reconnaissance aircraft and composite control multi-purpose unmanned aeri...

AI Technical Summary

Problems solved by technology

[0008] The purpose of the present invention is to provide a multi-UAV three-dimensional formation reconstruction method based on the artificial bee colony algorithm to solve the problems of minimum energy control, shortest time and minimum energy comprehensive control of three-dimensional formation reconstruction in the prior art, and Optimization problems of centralized control of complex systems such as multi-formation reconfiguration and multi-machine coordination

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